from geometry_msgs.msg import PoseStamped
from nav2_simple_commander.robot_navigator import BasicNavigator
import rclpy

def main():
    rclpy.init()
    nav = BasicNavigator()
    nav.waitUntilNav2Active()
    
    goal_pose = PoseStamped()
    goal_pose.header.frame_id = "map"
    goal_pose.header.stamp = nav.get_clock().now().to_msg()
    goal_pose.pose.position.x = 2.0
    goal_pose.pose.position.y = 0.0
    goal_pose.pose.orientation.w = 1.0

    nav.goToPose(goal_pose)

    while not nav.isTaskComplete():
        feedback = nav.getFeedback()
        nav.get_logger().info(f'剩余距离:{feedback.distance_remaining}')
        #nav.cancelTask()
    result = nav.getResult()
    nav.get_logger.info(f'导航结果：{result}')
